Risk-based multiobjective path planning and design optimization for unmanned aerial vehicles
基于风险的无人机多目标路径规划与设计优化
摘要:Safe operation of unmanned aerial vehicles (UAVs) over populated areas requires reducing the risk posed by a UAV if it crashed during its operation. We considered several types of UAV risk-based path planning problems and developed techniques for estimating the risk to third parties on the ground. The path planning problem requires making trade-offs between risk and flight time. Four optimization approaches for solving the problem were tested;a network-based approach that used a greedy algorithm to improve the original solution generated the best solutions with the least computational effort. Additionally, an approach for solving a combined design and path planning problems was developed and tested. This approach was extended to solve robust risk-based path planning problem in which uncertainty about wind conditions would affect the risk posed by a UAV.
类型:学位论文
学位:M.S.
系:Mechanical engineering
导师:Herrmann, Jeffrey W.;Azarm, Shapour
页码:77
年:2016